CN108367798A - Dynamic control type paillon system and method - Google Patents
Dynamic control type paillon system and method Download PDFInfo
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- CN108367798A CN108367798A CN201680074025.3A CN201680074025A CN108367798A CN 108367798 A CN108367798 A CN 108367798A CN 201680074025 A CN201680074025 A CN 201680074025A CN 108367798 A CN108367798 A CN 108367798A
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- paillon
- cable
- steering
- control cable
- actuator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3817—Positioning of seismic devices
- G01V1/3826—Positioning of seismic devices dynamic steering, e.g. by paravanes or birds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
- B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
- B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
- B63B21/663—Fairings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3817—Positioning of seismic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2211/00—Applications
- B63B2211/02—Oceanography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/42—Towed underwater vessels
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- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Oceanography (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Fluid Mechanics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Toys (AREA)
Abstract
The paillon system that receiver arrangement and focus for being used in acquisition seismic data turn to is connected to the buoy of support focus and receiver.Each paillon system includes the power apparatus that top-ups（18）, a pair of control cable, multiple paillon sections（30）And actuator（52）.The pair of control cable could attach to buoyant device, and is extended downwardly into from buoyant device and immerse end.The multiple paillon section can be along control cable in buoyant device（18）It is disposed with immersing between end.The actuator can be configured to control the tension in one or two in cable by change to adjust the angle of attack of paillon section.Course changing control is provided by many patterns, these patterns with the data of the control system of paillon system communication distribution by by describing.
Description
Cross reference to related applications
The application is according to 35 U.S.C. § 119（e）It is required that entitled " the Dynamically that on October 15th, 2015 submits
controlled foil systems and methods（Dynamic control type paillon system and method）" U.S. Provisional Application
No. 62/242,142 priority, the application are hereby incorporated by reference in its entirety by reference hereby.
Technical field
This disclosure relates to the controllable paillon system of dynamic and the method for controlling this kind of system.Using including but not limited to
It is configured to position and maintain focus and the offshore earthquake array（seismic array）Other elements between spacing dynamic
Control type paillon and hydrofoil（hydrofoil）System.
Background technology
Seismic array with focus and towing cable is used for the other structures below Study of Strata and the water surface, such as such as in U.S.
As described in state patent disclosure No. 2014/0247691, the disclosure is for all purposes by quoting with its entirety
It is incorporated herein.One or more seagoing vessels are normally used for pulling focus and/or receiver array, to obtain the phase of covering ocean floor
Hope the related geologic data of water surface area.For example, single waterborne vessel only pulls the array of focus array and earthquake towed cable simultaneously
The two or different ships can be used for pulling separated focus and receiver array.Alternatively, pull-type focus array
It can be with fixed reception device（For example, the array of subsea node）It is used in combination, or is combined with the ocean bottom cable being deployed on sea bed
It uses.
During operation, the acoustic impulse wave generated by focus array propagates through water to penetrate ocean floor and from submerged structure
Reflection.The sound wave of reflection is recorded as signal or seismic response by receiver, the receiver for example in the towing of ship rear or
Hydrophone in deployment on the ocean bottom（hydrophone）And/or geophone（geophone）.
When in ship rear towing focus and when other array elements, apply lateral force with maintain they position and
Away from.The spacing depends on the quantity of disposed focus and/or towing cable and adjacent between focus and/or receiver parts
Spacing.In general, many focus subarrays or string are deployed in ship rear using tow strap construction, so that focus is dispersed throughout approximation
The lateral distance of ten to 100 meters or bigger.Towing cable is typically deployed in the far lateral distance of bigger（For example, from 100 meters to
One km or bigger）, and thousands of rice can be extended at towboat rear.
Lateral spacing can be accomplished by the following way：Using spreading machine or a series of single lashings by paravane or commutation
Device deployed with devices is in dedicated tow strap arrangement, to provide desired spacing between neighbouring cable.Also it can be dragged along each
Cable provides positioning device, to maintain depth and/or laterally offset along build-out.
In general, paravane, door（floor）, commutator and similar steering solution often increase drag force, and
Sizable floor space is needed during storing, dispose and fetching.Steering response can be also restricted, not only by commutator
The limitation of operating system, but also due to complicated property or additional tow strap, label rope（tag line）With other required members
Part and be restricted.Therefore, the needs to position control system are still kept, be not subjected to the already present prior art other
In the case of limitation improved dynamic control is provided with smaller dragging.
This background section of specification（Including any bibliography cited herein and its any description or beg for
By）In included information merely for Technical Reference purpose and by including and not being considered as theme（As limited in claim
Fixed the scope of the present invention will be constrained）.
Invention content
This application involves seismic prospectings, and are related to the paillon system of the focus and receiver arrangement for acquiring seismic data
System and the method for controlling the paillon system.For example, paillon system can be applied to for fixed during seismic survey
Position and the equipment for maintaining the spacing between focus, subarray and/or towing cable, such as in the focus array of ship rear towing,
Or in the offshore earthquake array of towing.Using the paillon system for being directed to dispose for ocean bottom cable, such as using with dynamic
The seabed sled of state control type paillon system pulls object to provide lateral displacement, up/down lift（lift）Or both it is double
Weight（It is multiple）Ocean bottom cable is disposed.
In one embodiment, equipment includes top-up power apparatus, a pair of control cable, multiple paillon sections and actuating
Device.The pair of control cable could attach to buoyant device, and is extended downwardly into from buoyant device and immerse end.Multiple paillon areas
Section can be disposed along control cable in buoyant device and between immersing end.Actuator can be configured to control in cable by change
Tension in one or two adjusts the angle of attack of paillon section.
In another embodiment, system include the water surface or submerged buoyancy device, preceding control cable, control cable afterwards,
Actuator and multiple paillon sections.Preceding control cable can be connected to buoyant device and extend below buoyant device.After control
Cable can also be connected to buoyant device and extend below buoyant device.Actuator may be mounted to buoyant device.Actuator can
It is configured to relative to the tension in control cable after preceding control cable adjustment.Multiple paillon sections can be along preceding control cable and rear control
Cable placement processed.Paillon section can be configured to generate lift based on its angle of attack.The angle of attack of paillon section can be according to tension variation.
In another embodiment again, seismic array includes multiple towing focus；And multiple dynamic control types turn to
System is attached respectively to each in the focus.Each steering may include top-up power apparatus, a pair of control cable
Line, multiple paillon sections and actuator.The pair of control cable could attach to buoyant device and from buoyant device to downward
It reaches and immerses end.The multiple paillon section can be disposed along control cable in buoyant device and between immersing end.The actuator
It can be configured to control the tension in one or two in cable by change to adjust the angle of attack of paillon section.
In another embodiment, a kind of method for making seismic array turn to is disclosed.The seismic array may include more
A towing earthquake-predictive device；And multiple dynamic control type steering, it is attached respectively to each in focus.It is each to turn to
System may include top-up power apparatus, preceding control cable, afterwards control cable, multiple paillon sections, actuator and paillon controller.Before
Control cable can be connected to buoyant device and extend below buoyant device.Control cable also can be connected to buoyant device simultaneously afterwards
And extend below buoyant device.Multiple paillon sections can be along preceding control cable and rear control cable placement.Actuator can be installed
To buoyant device.The actuator can be configured to control the tension in one or two in cable by change to adjust foil
The angle of attack of piece section.Paillon controller can be configured to that actuator adjustment is guided to control any bar in cable or in two
Power, and thus adjust the lift generated by the multiple paillon section.The method may include passing data from paillon controller
It is defeated to arrive one or more of steering, so as to the instantiated pattern in corresponding actuator.Also actuator can be caused opposite
Tension after being adjusted in preceding control cable in control cable is to generate lift, to make the shake of corresponding buoyant device and attachment
Source turns to.
The invention content is provided so as to hereafter further described in a specific embodiment to introduce in a simplified manner
The selection of design.The invention content is neither intended to the key feature or essential characteristic for confirming claimed theme, is not intended to
It is used to limit the range of claimed theme.Feature of the invention, details, purposes and excellent as defined in the claims
Widely being presented in the following written description of various embodiments of the present invention for point provides, and illustrates in the accompanying drawings.
Description of the drawings
Fig. 1 is the schematic illustration for pulling focus array, and the towing focus array utilizes dynamic control type paillon system
To turn to.
Fig. 2 is the schematic side elevation of focus array, illustrates the representative construction of paillon system.
Fig. 3 A are the viewgraph of cross-section of the paillon section of the paillon system of Fig. 1 and Fig. 2.
Fig. 3 B are the alternative views for the paillon section for illustrating the angle of attack.
Fig. 4 is the schematic illustration for the paillon system for illustrating lift effect.
Fig. 5 is the schematic illustration of the cable adjustment mechanism for paillon system.
Fig. 6 is the isometric view in external, horizontal base construction cable adjustment mechanism.
Fig. 7 is the Section View in the cable adjustment mechanism of internal, vertical base structure.
Fig. 8 is the schematic diagram of representative towing seismic array, and the towing seismic array is controlled using one or more dynamics
Type paillon system processed is to make focus and/or towing cable component turn to.
Fig. 9 A are the viewgraph of cross-section of representative buoyant device, and the buoyant device has cable that is internal, being vertically oriented
Adjustment mechanism.
Fig. 9 B and Fig. 9 C are the side view and vertical view of the buoyant device in Fig. 9 A respectively, show cable adjustment mechanism.
Figure 10 A to Figure 10 D be the front view for the actuator of the cable adjustment mechanism of Fig. 9 A to Fig. 9 C, side view, etc.
Away from view and upward view.
Figure 11 A to Figure 11 D diagram for can dynamic steering paillon system various operation modes representative focus structure
It makes.
Figure 12 is the schematic illustration of the dynamic control type paillon system in underwater cable application deployment.
Figure 13 is the schematic illustration of the seabed guiding frame for underwater cable equipment.
Specific implementation mode
In the following disclosures, with reference to many exemplary embodiments or specific embodiment party of invention claimed
Formula.However, it should be understood that claim is not limited to specific described embodiment.Instead, contemplate following characteristics and
Element（Whether about different embodiments）Any combinations to implement and put into practice invention claimed.In addition, various
Embodiment can provide many merits better than the prior art.However, although this kind of embodiment can be realized better than other possible solutions
Certainly scheme and the advantages of better than the prior art, but be whether to realize that specific advantage is not intended to limit right and wants by given embodiment
It asks.Therefore, following aspect, feature, embodiment and advantage are merely illustrative, and are not considered appended claims
Element or limitation, other than the case where being expressly recited in claim.Similarly, the reference of " present invention " should not be explained
For the generalization of any inventive subject matter disclosed herein, and it is not considered as element or the office of appended claims
It is sex-limited, other than the case where being expressly recited in claim.
Fig. 1 is the schematic illustration of the focus array 10 pulled by seismic survey ship or other ships 12.Such as institute in Fig. 1
Show, trailing cable or cable 14 are connected to ship 12 at one end, and the subarray or string 16 of focus are attached at the other end.
For example, every towing cable 14 can be connected to a series of air guns of from the beginning float, buoy or the suspention of other floatation devices 18
Or other focus.
By towboat 12 focus array 10 is guided along navigation routine or navigation line.It, can be by being every in focus array 10
A floatation device 18 or for floatation device 18 multiple groupings provide can the paillon system of dynamic steering control each focus（Or
Each group focus）Relative position, as described in this article like that.
Fig. 2 is the side view of focus array 10, the representative construction of diagram dynamic control type paillon system 20.At this
In specific example, the subarray or string 16 of each air gun or other focus 22 suspend in midair via suspension rope 24 from floatation device 18, institute
It states suspension rope and determines depth of the focus 22 below water surface S.Suspension rope 24 is connected to the selected part of float 18, such as floating in head
Between sub-segments 18a and the tail end of sausage type float section 18b.
Float 18 is pulled along water surface S via towing cable 14, the towing cable 14 leads portion 26 to be connected to via towing
Head float section 18a.Towing cable 14 generally includes the umbilical cord 28 with data and be connected by power for focus 22,
And paillon system 20 is connected at cable connector 29.In air gun application, umbilical cord 28 may include being configured to
Focus 22 provides pressurized air to generate the pneumatic hose of acoustic impulse wave when being started in response to direction by control system
（pneumatic hose）Or conduit.Shock wave（Or other seismic signals）It is propagated from focus 22 by water or other media, from
And it penetrates ocean floor and is reflected from underwater feature.The signal of reflection is by seismic sensor（For example, in towing cable or seabed array
Hydrophone or geophone）Record, and generate the geophysics image data for indicating submerged structure through handling.
As shown in Figure 2, dynamic control type paillon system 20 can be connected in floatation device 18 and pull the leaching of cable 14
At cable connector 29 between entering part, such as between head float 18a and the umbilical cord part 28 of towing cable 14,
The front at the rear portion and focus 22 in portion 26 is led in towing.Alternatively, the immersion end of paillon system 20 can be connected to focus
One in 22（For example, the first gunwale being connected in the string）.
In these construction, paillon system 20 is configured to make a float 18a turn to by generating hydrodynamic lift, the water
Dynamic lift is controlled to realize expectation lateral register of the focus 22 in focus array 16 and relative to towboat 12.Alternatively,
One or more paillon systems 20 can be connected to sausage type float section 18b, and appointing in many suspension ropes or cable 24
One positions（Or any one of many suspension ropes or cable 24 is replaced to position）, such as the front at the focus 22 led
It sets, in the centre position between each focus 22 or at last focus 22（Or it trails thereafter）Rear positions in.
Fig. 3 A be for example as above in fig. 1 and 2 shown in dynamic control type paillon system 20 paillon section or foil
The viewgraph of cross-section of piece section 30.As illustrated in fig. 3, paillon section 30 extends to trailing edge 33 from leading edge 32, to limit
First surface 34（For example, pressure surface）With second surface 35（For example, suction face）Between string or string（CL）.
Preceding rope or preceding control cable 36 extend through leading in the front part of each paillon section 30 towards leading edge 32
Pipe 37.Rope or rear control cable 38 extend through the rear tube 39 in the rear portion of paillon section 30 towards trailing edge 33 afterwards.Before
Conduit 37 and rear tube 39 can be parallel to each other and be extended parallel to the leading edge of paillon section 30 32, and each other, with leading edge 32
It is placed in common plane with the longitudinally bisected line of the trailing edge 33 of each paillon section 30.Cable 36,38 is controlled in its extension
It is arranged to general parallel orientation when dummy pipe 37 and rear tube 39 in paillon section 30.Wherein between leading edge 32 and trailing edge 33
Multiple paillon sections 30 embodiment of same size or roughly equal in, control cable 36,38 can be along its length with equidistant
Separated mode positions.
As shown in fig. 3, dummy pipe 37 and rear tube 39 are substantially along string（CL）Between two parties, respectively close to leading edge 32 and tail
Edge 33.This arrangement makes preceding longitudinally spaced increase between cable 36 and rear cable 38 or causes its maximization greatly, but only generation
Table.More generally, dummy pipe 37 and rear tube 39（And preceding cable 36 and rear cable 38）Lengthwise position in leading edge 32
Change between trailing edge 33, relative to string（CL）Correspondence lateral position in the first opposite foil surfaces 34 and the second paillon
Also change between surface 35.
Therefore dummy pipe 37 and rear tube 39 are capable of providing so as in any floatation device 18 and immersion end, cable or component
Between various positions in concatenate before cable 36 and rear cable 38, such as above in fig. 2 shown in.Before paillon section 30 surrounds
The rotation of cable 36 by adjusting preceding cable 36 and rear cable 38 relative length or in which tension control, to make paillon
Section 30 turns to.
Therefore dynamic control type paillon system 20 can be provided turning to using one or more paillon sections 30
Kuppe, blade or hydrofoil equipment, the paillon section 30 control desired to generate via preceding cable 36 and rear cable 38
Hydrodynamic lift or steering force.Alternatively, paillon system 20 can be described as can dynamic steering kuppe string（fairing
string）, utilize multiple single paillon sections 30 or individually any one of continuous flexible paillon 30, and its middle part
30 limit along span-wise length.
Suitable material for paillon section 30 includes that composite material or polyurethane and other plastics or durability are poly-
Close object.In one embodiment, for example, continuously, flexible uphold（flexible span）Polymer or composite foil 30 can
Substantially whole kuppe or kuppe string are formed before being threaded between cable 36 and rear cable 38.Alternatively,
Before multiple discrete rigidity or flexible foil section or blade 30 can be threadingly attached on cable 36 and rear cable 38, between being in
Separate or abut any one of construction and with or without the linking part of interconnection.
In these embodiments, paillon section 30 can be formed by any one of flexible material or rigid material, and every
A paillon section 30 can have roughly the same span, or can individually select span.Similarly, each paillon section 30 can
It can be according to depth or position with roughly the same paillon geometry or paillon geometry（For example, in surface float and leaching
Enter between cable attachment）And change.Paillon section 30 can also provide any one of in the form of symmetrically or non-symmetrically, such as make
The paillon geometry specified with one or more NACA series, Gottingen or Eppler.
Fig. 3 B are the alternative views of paillon section or section 30, are illustrated such as relative to flow direction（F）The angle of attack of restriction
θ.The lift or steering force generated by paillon section 30 is by arrow（L）It indicates.
Usually, lift（L）Depending on both paillon geometry and attack angle theta.Preceding cable 36 and rear cable 38 it is opposite
Length or in which the adjustment of tension therefore can be used for controlling the steering on each paillon section 30 by changing the angle of attack
Power.However, it should be noted that for asymmetric paillon section 30, usually with positive meaning（For example, along from paillon pressure gauge
Face 34 is towards the direction of paillon suction face 35）Generate lift（L）, it is also such even for zero or slightly negative attack angle theta.Separately
On the one hand, for symmetrical paillon section 30, lift（L）It can be with attack angle theta reindexing.
Therefore asymmetric paillon geometry provides more stable construction, wherein lift（L）Direction substantially by foil
The determination of the orientation of piece pressure surface 34 and paillon suction face 35, and by changing the angle of attack to increase or reduce paillon section 30
On correspondence steering force size come realize turn to.The such asymmetric paillon cross section of one kind is limited by 2318 paillons of NACA,
But other suitable geometries, including but not limited to other NACA, Gottingen and Eppler paillon geometric forms can be utilized
Shape.Alternatively, preceding cable 36 and rear cable 38 can be made to deviate by providing conduit 37 and 39 of leaving bowstring, the conduit of leaving bowstring is from such as
String as described above（CL）Laterally shift.
Fig. 4 is the schematic illustration of dynamic control type paillon system 20, illustrates lift effect.Each paillon system 20 is
It can be made of multiple paillon sections 30, the multiple paillon section 30 is in alignment with each other and is stacked on each other（Such as Fig. 4 and Fig. 5
Shown in）So that leading edge 32 and trailing edge 33 are aligned all along substantially common direction respectively.Pass through preceding cable 36 and rear cable 38
Paillon section 30 is kept to be in alignment with each other, the preceding cable 36 and rear cable 38 pass through 37 He of dummy pipe in each paillon section 30
Rear tube 39.When generation lift（L）When, each paillon section 30 is by the span usually along paillon system 20 in the water surface（S）On
Floatation device 18 and immerse end between or cable connector 29 with towing cable 14, focus 22 or other immerse cables 44 it
Between junction present bending or sine profile.Even if when paillon system 20 is bent under tension, before paillon section 30
Edge 32 and trailing edge 33 still maintain common direction to be orientated respectively.
It should be noted that the amplitude of the effect is not in proportion, and it is exaggerated to 30 phase of diagram paillon section in Fig. 4
For such as generally perpendicular to the water surface（S）What is limited is vertical（V）Relative displacement.Usually, distortion will be also generated along span so that
Top foil section near cable connector 29 of the angle of attack for immersing cable 44 in floatation device 18 and extremely respectively and bottom
It can be relatively smaller for paillon section 30, and can be phase for the paillon section 30 in intermediate span region
To bigger.Therefore, the paillon section 30 in intermediate span region can often generate more compared to top section and bottom section
Big lift, " wave seethes " so as to cause Fig. 4 or sinusoidal effect.
Alternatively, compared to top and bottom paillon section 30, the paillon geometry of each paillon section 30 can be selected
Shape is to reduce floatation device 18 and immerse the lift in the intermediate span region between cable 44.For example, paillon section 30 can
With different paillon geometries, these paillon geometries be chosen so as to across span generate more uniform lift or
Increase or reduce spanwise lift effect.
Fig. 5 is the schematic illustration of the representative adjustment mechanism 50 for dynamic foil system 20.As shown in Figure 5, spiral shell
Screw thread 52 is guided with pulley 54, ratchet, capstan winch or similar cable and feed mechanism is mountable to floatation device 18, such as rear
Control the top of cable 38 and the back of floatation device 18 or back section（Along the trailing edge direction of paillon section 30）On rear anchor
Between solid point 58.Preceding cable 36 is installed on preceding anchoring piece 56, and the preceding anchoring piece is attached to the front section of floatation device 18（Edge
The leading edge direction of paillon section 30）.
Adjustment mechanism 50 can be configured for any one of cable 36 or rear cable 38 before adjusting；Two implementations
In example is covered in.Another option is the adjustment mechanism that discrepancy adjustment is provided using both cable 36 forward and rear cable 38
50；For example, by making a cable shorten, and simultaneously lengthen another cable.In some designs, single control can be used
Cable extends downwardly always along preceding cable section 36 from preceding cable anchoring piece 56, then passes through cable return or surround
Be attached to immerse cable 44 cable connector 29 winding or flexion, and by pulley 54 refund rear cable section 38 reach after
Anchoring piece 58.Alternatively, it is possible to provide control cable 36 and rear control cable 38 before individually, such as individually it is attached at immersion
At cable connector 29.It immerses cable 44 and can be provided the trailing cable for towing cable 48 or the navel for focus gun array
Any one of belt umbilical.
Control device 59 for adjustment mechanism 50 can be located at any one of top or the bottom end of paillon system 20 place, example
Such as in the inside of floatation device 18, as shown in Figure 5.Suitable control device 59 includes processor, memory and software component,
It is configured to length and/or the tension therein of cable 36 and rear cable 38 before guiding adjustment mechanism 50 selectively changes,
Will pass through the lift and steering force that are generated by paillon system 20 are adjusted along each paillon section 30 change angle of attack.For example, control
Device 59 processed can be configured to control electro-motor or similar driver to activate adjustment mechanism 50, to by adjusting preceding
The relative length and tension therein of control cable 36 and rear control cable 38 turn to provide automation.Other control option packets
Include but be not limited to hydraulic control and Pneumatic control type hammer ram or plunger mechanism, electric capstan driver and motor-driven tooth
Rack-and-pinion is arranged.
Fig. 6 is the isometric view of adjustment mechanism 50, and the adjustment mechanism 50 is in outer horizontal pedestal structure on head float 18a
It makes.In this illustration, adjustment mechanism 50 includes the pulley 54 and linear actuators 60 being horizontally mounted in recessed recess portion 61,
The female recess portion 61 is limited on an outer surface of float 18a.
Recess portion 61 is along the bottom of head float 18a（Or abdomen）Partly from front end（It is opposite with sausage type section 18b）Just after
Portion is longitudinally extended the rear end of float 18a to the end（Close to sausage type section 18b）.Many structure bands 63 are capable of providing with many branch
Frame 64 is manipulated around float 18a during disposing and fetching.
Fig. 7 is the section view of float 18a, an isometric view, shows the adjustment mechanism 50 in internal, vertical base structure.
In this illustration, linear actuators 60 is mounted on the rear inside of head float 18a, and operates so that vertically driving is rammed up and down
Hammer 62.Hammer ram 62 controls cable 38 after being connected to, controlling cable 38 after described extends downwardly through infundibulate connector 65.Connection
Control cable 38 provides bending radius after part 65 is.
Usually, the tension in cable 38 is controlled after capable of increasing with to paillon system " reinforcing ", to increase the angle of attack simultaneously
And increase corresponding lift.Relatively, the tension in rear cable 38 can be reduced with to system " subtracting power ", to reduce the angle of attack simultaneously
And reduce lift.In alternative embodiments, rigging operation can be made to reverse, such as by making rear cable 38 be equipped with fixed tension
And the tension before increaseing or decreasing in cable 36, or by implementing difference rope length adjustment.
Fig. 8 is the schematic views of representative towing seismic array 70, and the towing seismic array 70 utilizes one or more
Dynamic control type paillon system 22 is to make focus and/or towing cable component turn to.As shown in Figure 8, seismic array 70 includes shake
Source array 10 and streamer array 72.Focus array 10 includes many head floats/sausage type float 18, and each focus 22 is from the head
Float/sausage type float suspention, and it is gentle to the power of exploration ship 12, data to realize with umbilical cord line 28
Dynamic connection.Streamer array 72 includes multiple single towing cables 73 and is distributed along every build-out to observe from focus 22
Reflect the seismicrophone of signal.
Towing cable 73 is connected to trailing cable along spreading machine or separation rope 74 or other immerse cable 44, the spreading machine or separation
Rope 74 is suspended in using label rope or depth rope 76 at 75 lower section streamer depth of corresponding head buoy.Towing cable 73 can from the beginning buoy 75
Extend thousands of rice towards the tail buoy 77 of the corresponding number of rear end（Not in scale）.
As shown in Figure 8, separation rope 74 is by being attached to branch line（spur line）78 laterally extend, the branch line warp
Paravane or commutator 80 are connected to by air deflector band 81.Wide tow strap 82 prolongs between paravane or commutator 80 and towboat 12
It stretches.Can be arranged on one or more towing cable label ropes or depth rope 76 can dynamic control paillon system 20, or replace one
A or multiple towing cable label ropes or depth rope 76 come be arranged can dynamic control paillon system 20, the towing cable label rope or depth
From the beginning buoy 75 of restricting then extends down to the front end of towing cable 73.Also can between tail buoy 77 and the rear end of towing cable 73 and
Intermediate towing cable position centers the paillon system 20 that can be turned to.
Seismic vessel 12 be equipped with navigation system 86, the navigation system include be configured to can dynamic steering paillon system
One or more paillon steering modules of 20 communication of system, it is described can the paillon system of dynamic steering be deployed in focus in various ways
In array 10 and streamer array 72, and/or in the other component of towing seismic array 70.In addition to focus turns to, paillon
System 20 could be used for independently making towing cable 73 with or without discrete spreading machine or separation rope 74
It turns to and laterally positions.
Also it can replace commutator or paravane 80 that the paillon system 20 that can be turned to is set（For example, as shown in Figure 8
In the towing cable position of end）, without individual branch line 78 and wide tow strap 82.It alternatively, can be in one or more commutators
Or using paillon system 20 in paravane 80, or can use similar branch line cable structure replace one or more commutators or
Paillon system 20 is arranged in paravane 80.
More generally, paillon system 20 can be used for that diversified immersion cable and float is made to arrange steering, no
It is appropriate only for focus and towing cable turns to, and exploration and sonar applications are swept suitable for ocean bottom cable and node deployment, side.Can dynamically it turn
To paillon system 20 can also be suitable for more typically changing（Non- earthquake）Purposes, including general paravane, commutator and hydrofoil system
System.It is additional option to be used together with paravane/commutator cable or P cables and ocean bottom cable.
Fig. 9 A are the viewgraph of cross-section of representative float or buoyant device 88, wherein the float or buoyant device 88 have
Cable adjustment mechanism 50 that is internal, being vertically oriented.Fig. 9 B and Fig. 9 C are shown respectively the side view of float or buoyant device 88 and bow
View.
Buoyant device 88 can take the following form：The water surface or submerged float, top-up power apparatus, or provides some form of
Above and/or under attachment point（The paillon system 20 of stacking can be connected to the attachment point and is pulled against the attachment point）
Other arrangement.Suitable example includes but not limited to：Head float, sausage type buoy, head buoy, tail float, tail buoy or class
As the water surface or underwater floatation device, be configured to either to be used for focus or towing cable and turn to or can dynamic for general
The hydrofoil or blade applications of steering, as described above.It in the additional examples, can be sharp together with horizontal paillon string
With actuator system, such as the lift with offer upward or downward.Analogously it is possible in neutral buoyancy paravane（buoyant
paravane）Dynamic control type paillon is set in system, and the neutral buoyancy paravane system is configured to towing and is dispersed in ice
Under three-dimensional towing cable.The design could be used for neutral buoyancy（For example, subglacial）Focus ball cock device, such as so as in the arctic
Or it is used in other cold water environments.
As illustrated in figure 9 a, adjustment mechanism 50 includes linear actuators 60, and the linear actuators 60 is with after being connected to
Control the vertical activating profile hammer ram 62 of cable 38.Preceding control cable 36 is for example using in control cable 36 before being configured to determine
The load transducer or strain gauge 67 of tension are attached to floatation device 18 via preceding pedestal 66.Additional sensing system 68 can
It is configured to determine the vertical position of hammer ram 62 and correspondence length and the tension therein of rear control cable 38.For sensor
The suitable components of system 68 include but not limited to：Strain gauge, load transducer, magnetic reed switch, and linear and optical encoder
Component.Also rotation sensor or encoder can be utilized, such as to pass through screw shaft to linear actuators 60 or other rotations
The revolution of driving part is counted to determine the position of hammer ram 62.
Paillon control system 90 can be mounted in buoyant device 88, and be equipped with and linear actuators 60 and navigation system
Paillon steering module in 86（Or multiple modules）The suitable processor and memory member of data communication.Paillon control system
90 coordinate with control device 59 and navigation system 86, as follows to provide steering capability in a series of different operation modes
Described in text like that.
Figure 10 A to Figure 10 D are to be used for cable adjustment mechanism（For example, as adjusted shown in Fig. 5 to Fig. 7 and Fig. 9 above
Complete machine structure 50）Linear actuators 60 front view, side view, isometric view and upward view.As shown in Figure 10 A to Figure 10 D,
Linear actuators 60 can be mounted between top-support 92 and bottom bracket 93, and the top-support and bottom bracket are suitable for line
Property actuator 60 be mounted on head float as described in this article, buoy or other insides of power apparatus 88 of top-uping, so as to for
Can dynamic steering paillon or blade apparatus adjustment control build-out and when tension use.
Actuator system 60 may include actuator control piece 94, actuator electronics（Or motor controller）95 and accumulation of energy
One or more of device 96.Alternatively, one or more of these components can be integrated in as described above
In paillon control system 90.In the additional examples, the function of actuator and motor control part can be incorporated into paillon steering
In module, or it is incorporated into the navigation and control system more typically changed.
Operation mode
Various operation modes can be programmed into control software to use dynamic control type paillon system to provide focus submatrix
The active homing of row and towing cable, as described in this article like that.Can include in local paillon control system by software component
And in corresponding paillon steering module the two, wherein local paillon set-up of control system is in ball cock device or equipped with actuator
System, corresponding paillon steering module are used together with the ship self-contained navigation system of towing ship.Alternatively, in software component
One or more can be configured for through network operation, such as with electrical, radio or acoustic communication and imperative structures.
More specifically, software, which is configured to control, is mounted on each focus subarray head float（Or other ball cock devices）On
Linear actuators.Paillon is turned in order to change to be attached between a float and the first gunwale or other immersion cable positions
The lift of stacking.Compared to preceding control cable, after linear actuators changes the relative length of control cable or in which tension, from
And change the angle of attack in order to provide desired lift or steering force, as described above.
Figure 11 A to Figure 11 D diagram for can dynamic steering paillon system various operation modes representative focus structure
It makes.This four are configured to towed at focus ship rear, and wherein Figure 11 A and Figure 11 B represent single focal structure, and
And Figure 11 C and Figure 11 D represent more focal structures.
Focus and subarray string quantity can be limited with reference to figure 11A to Figure 11 D.Subarray string quantity and all shakes
Source quantity（The combination of the subarray string unanimously started）It is sequentially incremental from starboard to larboard.Alternatively, submatrix number of columns energy
Towing cable position rather than hypocentral location are enough referred to, or refers to paravane or commutator index（index）.
Control software
In operation, it will be fed to local paillon control system provision of navigation data by the paillon steering module of navigation system,
Make it possible to be based on subarray location determination actuator commands.Control software may include proportional-integral-differential（PID）Logic, with
Just appropriate interval is maintained.In the alternative designs for control software, paillon control system and/or paillon steering module can
Replace one or more of actuator control system, and actuator control software can be integrated in paillon control system, foil
In piece steering module or navigation system itself.For example, can include in focus or towing cable steering module by corresponding control routine
Any one of in.Both " Future Trajectory " and 4D steering capabilities are contemplated, but can be not necessarily in any specific design
Any one of both need.
To the input of control software
Ship navigation software can also provide the position of each subarray or string in real time.Each subarray can be configured at least one
A global positioning system holds casket（pod）（For example, dGPS or rGPS）, and in some cases there are two.Understand, at least one
A rifle or focus hold the communication that casket should act to carry out location information with control software.Also can use acoustics, radar or
Laser orientation system.
Two data-messages are limited, from navigation system（Or paillon steering module）To a data-message of paillon controller
With location information, and from paillon controller to navigation system（Or paillon steering module）A data message package contain paillon
System mode and alarm.These navigation data messages can be using existing agreement to transmit navigation data, such as carries with client
Steering control system cooperation supply or dedicated.Message format described herein can be designed to be similar in terms of content existing
Navigation message, but be to provide the dynamic steering of paillon system, as described in this article like that.
From navigation system to paillon controller：It can be regular（For example, one second primary）It controls and counts from navigation system to paillon
Calculation machine provides data.Data output can be independently of the operation mode of ship（For example, online, offline etc.）Always it is available.It leads
Boat system makes hydrolocation information that paillon control computer can be used in real time, for example, it is existing be no more than 2 seconds, or in another time
Information in window.Command information can be transferred, and time label can be carried out to each message with UTC time.
From navigation system to the message of paillon control piece：These message can be divided into three sections：1) main body；2) ship
Data；And 3) source data.Different focus can be directed to number using consistent focus with streamer array component（For example,
Starboard arrives N to larboard, 1）.Also consistent subarray Series Code number can be used（Starboard arrives N to larboard, 1）.SMA is provided with just fixed
Any problem alarm controller in position.
State from paillon controller to navigation system and alarm：It is sent to navigation system with from paillon controller（Or foil
Piece steering module）State and the related suitable primary message field of alarm include but not limited to：Header（header）, message
Time（The time of message；UTC）, focus string ID（1...N；1=starboard；N=larboard）, actuator ID（Actuator S/N）, controller
State（It is standby, effect in, failure）, rope tension（For example, 0-2000 kg）, error message（If faulty, for failure generation
Code；Otherwise it is zero）And EOM（End-of-message character；Such as<CR><LF>）.These fields can be repeated based on the quantity of focus string；
For example, each focus string is primary.
Operation mode
Actuator software is worked with one or more operation modes, and the operation mode includes but not limited to what following article was enumerated
Any one of operation mode 1-6：
1. any actuator can be manually moved into the limit of the ability of actuator by manual mode-.It should be appreciated that minimum and maximum
Screens（detent）, so as not to cause any mechanical failure to hammer ram.This pattern will be used usually during disposing and fetching,
Subarray " stacking " to side to be allowed to operate any subarray.It should set in software between minimum subarray
Every parameter so that operator can not be mobile too close to so that they tangle by two subarrays.
2. any two subarray may be selected in calibration mode-（#2 and #5 in preferably more seismic source models）To provide
Fixed intervals, while keeping the tension readings on its corresponding load transducer equal.This pattern will allow subarray to meet it
Required interval, but keep lift equal to maintain the preparation lift along both larboard direction and starboard direction.In this alignment epoch
Between, subarray 1 and 6 should be made to float row with its largest interval.If the collision between any subarray will occur（Interval, which is less than, to be come
From the minimum interval parameter of pattern #1）, then should stop calibration function and operator's warning is provided.
It is used as " master " subarray, every other subarray that will be based on name 3. a subarray may be selected in on-line operation pattern-
Adopted geometry maintains and its fixed intervals distance.If detecting impact conditions, all subarrays should reduce its lift
To maintain personal distance.PID control, which can be used for making, to be automatically corrected to compensate variable ocean current and towed speed.
4. off-line operation pattern-this pattern can be selected as one of two conditions：Or it is maintained by rotation
Line operation mode, once navigation system identify offline condition and be put into alternative constructions.Condition of replacement can be fan pattern,
In all subarrays attempt maintain its own between largest interval.
5. tentative（run-in）During this condition, all subarrays can be converted to operation mode-from offline alternative constructions
On-line operation pattern.If subarray has been in on-line operation pattern, any change is not needed.
6. allowing each focus independently to turn any one of larboard or starboard for effect steering pattern-this pattern
To meet desired covering multiple（fold-of-coverage）Effect.During steering, between the subarray in each focus
Every nominal interval distance will be maintained.
Fail-safe mode
Actuator software is also worked with any one of two kinds of fail-safe modes that following article is enumerated.
1. if the communications loss between ship and any actuator or paillon controller, should maintain known to last time
Actuator position, and provide warning to operator.In this case, failure subarray should be switched to " master " subarray, and
And every other subarray should be controlled with the interval for the subarray that maintains and fail.
If 2. measure the certain minimum thresholds of tension on trailing cable less than the rope of instruction separation, should by pattern from
It is switched to offline-fan pattern dynamicly, potentially tangled with alleviation and generates caution signal.
Additional examples of composition
Figure 12 is the schematic illustration of the dynamic control type paillon system 120 in underwater cable application deployment or equipment 110, described
Underwater cable application deployment or equipment for example utilize dynamic control type paillon system 20 as described above.Such as institute in Figure 12
Show, undersea device 110 includes the node connecting rope or cable 114 for connecting node 116.Cable 114 can be after ship 112
Side is towed or is disposed from ship 112.
Can be in the various positions in equipment 110 using one or more dynamic control type paillon systems 120, such as turning
To guiding frame 122 or it is configured in the similar transfer that lateral force is provided.It alternatively, can be in settler
（depressor）Using one or more dynamic control type paillon systems 120 in system 124, for example, in be configured to provide to
It exerts oneself or the horizontal tectonics of up/down lift.In some embodiments, exist（It is multiple）Transfer 122 with（It is multiple）Settler system
Paillon system 120 is utilized in 124 the two of uniting.
Figure 13 is the schematic figure of the seabed guiding frame 122 or similar transfer for ocean bottom cable equipment 110
Show.As shown in Figure 13, guiding frame 122 is connected to node connection cable 114.Guiding frame 122 includes can dynamic control
Paillon system 120, instrument 130 and actuator 150（For example, same or like with actuator mechanism 50 as described above）.
Instrument 130 may include additional component, including but not limited to USBL（Ultra-short baseline）Or other sound systems, one or more fortune
Dynamic sensor, echo depth sounder, acoustic Doppler fluid velocity profile instrument（ADCP）It system, Forward-looking Sonar and is configured to and paillon
Control module or surface navigation system（For example, on towboat）The power and the communication apparatus of communication.
Although, can be by the disclosure that following following claims is covered not departing from foregoing relate to exemplary embodiment
In the case of base region, can by with otherwise both known features in feature disclosed herein or this field
Additional combination plan other and other embodiment.
Claims (27)
1. a kind of equipment, including：
Top-up power apparatus；
A pair of control cable is attached to the buoyant device and is extended downwardly into from the buoyant device and immerses end；
Multiple paillon sections are disposed along the control cable between the buoyant device and the immersion end；And
Actuator is configured to adjust the paillon by changing the tension in one or two in the control cable
The angle of attack of section.
2. equipment according to claim 1, wherein the actuator is configured to by adjusting in the control cable
One length carrys out change tension force.
3. equipment according to claim 2, wherein the actuator is vertically disposed relative to the control cable.
4. equipment according to claim 3, wherein the actuator is at least partially installed at the power apparatus that top-ups
It is interior.
5. equipment according to claim 1, wherein each in the paillon section limits：Dummy pipe, it is neighbouring
The leading edge of each paillon section, first controlled in cable extend through the dummy pipe；And rear tube, it is neighbouring
The trailing edge of each paillon section, the Article 2 controlled in cable extend through the rear tube.
6. equipment according to claim 5, wherein the dummy pipe and the rear tube are in the multiple paillon section
Each in a manner of spaced be spaced apart.
7. equipment according to claim 5, wherein the actuator be configured to adjustment second control cable length with
Thus the tension in the second control cable is adjusted.
8. equipment according to claim 1, wherein the pair of control cable is provided as single cable, the single
Cable at the immersion end flexion to form the pair of control cable.
9. equipment according to claim 1, wherein the immersion end is connected to cable, and the cable is configured to pull
The one or more focus suspended in midair from the power apparatus that top-ups.
10. equipment according to claim 1, wherein the immersion end is connected to cable, and the cable is configured to pull
The earthquake towed cable at the rear portion of the power apparatus that top-ups.
11. equipment according to claim 1, further include be placed in the power apparatus that top-ups and with the actuator number
According to the controller of communication, wherein the controller is configured to guide the actuator to adjust one in the control cable
Thus tension in item or two simultaneously adjusts the lift generated by the multiple paillon section.
12. equipment according to claim 11 further includes the navigation module communicated with the controller data, wherein
The navigation module is configured to make the power apparatus steering of top-uping based on the lift.
13. equipment according to claim 1, wherein the paillon section has substantially unified, asymmetric paillon geometry
Shape.
14. equipment according to claim 1, wherein the paillon section has substantially skimble-scamble paillon geometry,
The paillon geometry is configured to, compared to close to top-up power apparatus and the end regions for immersing end, reduce institute
State the lift in the intermediate span region of multiple paillon sections.
15. a kind of system, including：
The water surface or submerged buoyancy device；
Preceding control cable is connected to the buoyant device and extends below the buoyant device；
After control cable, be connected to the buoyant device and extend below the buoyant device；
Actuator is installed to the buoyant device, wherein the actuator is configured to relative to the preceding control cable tune
Tension in the whole rear control cable；And
Multiple paillon sections, along the preceding control cable and the rear control cable placement, wherein：
The paillon section is configured to generate lift based on its angle of attack；And
The angle of attack of the paillon section is according to the tension variation.
16. system according to claim 15, wherein：
The actuator includes the linear actuators being vertically mounted in the buoyant device；And
The system also includes sensor, the sensor is configured to sense the preceding control cable and the rear control cable
One or both of in tension.
17. system according to claim 16 further includes paillon controller, the paillon controller setting is described floating
In power apparatus and it is configured to guide the linear actuators to adjust the tension in the rear control cable and thus adjust
The lift generated by the multiple paillon section.
18. a kind of seismic array, including：
Multiple towing focus；And
Multiple dynamic control type steering, are attached respectively to each in the focus, wherein each steering packet
It includes：
Top-up power apparatus；
A pair of control cable is attached to the buoyant device and is extended downwardly into from the buoyant device and immerses end；
Multiple paillon sections are disposed along the control cable between the buoyant device and the immersion end；And
Actuator is configured to adjust the paillon by changing the tension in one or two in the control cable
The angle of attack of section.
19. a kind of method for making seismic array turn to, including：
Multiple towing earthquake-predictive devices；And
Multiple dynamic control type steering, are attached respectively to each in focus, wherein each steering includes：
Top-up power apparatus；
Preceding control cable is connected to the buoyant device and extends below the buoyant device；
After control cable, be connected to the buoyant device and extend below the buoyant device；
Multiple paillon sections, along the preceding control cable and the rear control cable placement；
Actuator is installed to the buoyant device, wherein the actuator is configured to by changing in the control cable
One of or both in tension adjust the angle of attack of the paillon section；And
Paillon controller is configured to guide the actuator to adjust in any one of described control cable or both
Thus tension simultaneously adjusts the lift generated by the multiple paillon section；
The method includes：
Data are transferred to one or more of described steering from the paillon controller, so as in corresponding actuator
One pattern of middle instantiated；And
Cause the actuator relative to it is described it is preceding control cable adjust it is described after control cable in tension, with generate lift with
Just turn to corresponding buoyant device and the focus of attachment.
20. according to the method for claim 19, further including：
Data are transferred to one or more of described steering from the paillon controller, the data are configured to have
Now change minimum or max model；And
One or more of described actuator is caused to be moved to minimum or maximum screens, to make lift minimize or maximum
Change.
21. according to the method for claim 19, further including：
Two or more selected steering that data are transferred to from the paillon controller in the steering,
In, the data are configured to one pattern of instantiated in the selected steering, so that after corresponding in control cable
Tension it is equal；And
Corresponding actuator is caused to apply equal tension on the corresponding rear control cable in the selected steering.
22. according to the method for claim 19, further including：
Data are transferred to the steering from the paillon controller, the data are configured to instantiated by the steering
One in system is specified as the pattern of main steering；And
Cause the actuator to apply tension on rear cable, the tension be configured to the multiple paillon section is made to be orientated with
Maintain the fixed lateral spacing distance between the buoyant device and the buoyant device of other steering of the main steering.
23. according to the method for claim 19, further including：
Two or more selected steering that data are transferred to from the paillon controller in the steering,
In, the data are configured in the selected steering one pattern of instantiated to maintain the selected steering
Corresponding buoyant device in maximum lateral spacing distance；And
Cause the actuator to apply tension on rear cable, the tension be configured to the multiple paillon section is made to be orientated with
Maintain the maximum lateral spacing distance in the buoyant device of the neighbouring steering.
24. according to the method for claim 19, further including：
Data are transferred to the steering from the paillon controller, the data are configured to instantiated independent steering mould
Formula, the independent steering pattern include for the independent steering of each instruction in the buoyant device；And
The actuator is caused to apply tension on rear cable, the tension is configured to implement for each corresponding buoyant device
Corresponding independent steering instruction.
25. according to the method for claim 19, further including：
Data are transferred to the steering from the paillon controller, the data be configured to instantiated with described turn
The steering is specified as the pattern of main steering in the case of the communications loss of a steering into system；With
And
Cause the main steering to other steering transmission datas.
26. according to the method for claim 19, further including：
Data are transferred to the steering from the paillon controller, the data are configured to one pattern of instantiated with base
Tension in one be attached in buoyant device trailing cable maintains corresponding buoyant device less than minimum threshold
Maximum lateral spacing in the middle；And
Cause the actuator to apply tension on rear cable, the tension be configured to the multiple paillon section is made to be orientated with
In the buoyant device for maintaining the steering when the tension in the trailing cable drops below the minimum threshold
Maximum lateral spacing distance.
27. according to the method for claim 19, wherein one or more of earthquake-predictive devices appointing in following set
What one or more：Seismic source apparatus, the subarray of seismic source apparatus, earthquake towed cable, paravane or commutator.
Applications Claiming Priority (3)
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| US201562242142P | 2015-10-15 | 2015-10-15 | |
| US62/242142 | 2015-10-15 | ||
| PCT/US2016/057344 WO2017066762A1 (en) | 2015-10-15 | 2016-10-17 | Dynamically controlled foil systems and methods |
Publications (2)
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| CN108367798A true CN108367798A (en) | 2018-08-03 |
| CN108367798B CN108367798B (en) | 2020-09-15 |
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| CN201680074025.3A Active CN108367798B (en) | 2015-10-15 | 2016-10-17 | Dynamically controlled foil system and method |
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| Country | Link |
|---|---|
| US (1) | US10488541B2 (en) |
| EP (1) | EP3362344A1 (en) |
| CN (1) | CN108367798B (en) |
| AU (1) | AU2016337528B2 (en) |
| BR (1) | BR112018007398B1 (en) |
| CA (1) | CA3001138C (en) |
| DK (1) | DK180211B1 (en) |
| MX (1) | MX2018004538A (en) |
| RU (1) | RU2729696C2 (en) |
| WO (1) | WO2017066762A1 (en) |
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| CA3001138C (en) | 2023-12-05 |
| US20170106946A1 (en) | 2017-04-20 |
| RU2729696C2 (en) | 2020-08-11 |
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| US10488541B2 (en) | 2019-11-26 |
| RU2018117668A (en) | 2019-11-15 |
| WO2017066762A1 (en) | 2017-04-20 |
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